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Simultaneous Floating-Base Estimation of Human Kinematics and Joint Torques.
- Source :
-
Sensors (Basel, Switzerland) [Sensors (Basel)] 2019 Jun 21; Vol. 19 (12). Date of Electronic Publication: 2019 Jun 21. - Publication Year :
- 2019
-
Abstract
- The paper presents a stochastic methodology for the simultaneous floating-base estimation of the human whole-body kinematics and dynamics (i.e., joint torques, internal and external forces). The paper builds upon our former work where a fixed-base formulation had been developed for the human estimation problem. The presented approach is validated by presenting experimental results of a health subject equipped with a wearable motion tracking system and a pair of shoes sensorized with force/torque sensors while performing different motion tasks, e.g., walking on a treadmill. The results show that joint torque estimates obtained by using floating-base and fixed-base approaches match satisfactorily, thus validating the present approach.
Details
- Language :
- English
- ISSN :
- 1424-8220
- Volume :
- 19
- Issue :
- 12
- Database :
- MEDLINE
- Journal :
- Sensors (Basel, Switzerland)
- Publication Type :
- Academic Journal
- Accession number :
- 31234414
- Full Text :
- https://doi.org/10.3390/s19122794